
#ifndef NAV_DWB_CRITICS__ALIGNMENT_UTIL_HPP_
#define NAV_DWB_CRITICS__ALIGNMENT_UTIL_HPP_

#include "geometry_msgs/msg/pose2_d.hpp"

namespace nav_dwb_critics
{
/**
 * @brief Projects the given pose forward the specified distance in the x direction.
 * @param pose Input pose
 * @param distance distance to move (in meters)
 * @return Pose distance meters in front of input pose.
 *
 * (used in both path_align and dist_align)
 */
geometry_msgs::msg::Pose2D getForwardPose(const geometry_msgs::msg::Pose2D & pose, double distance);

}  // namespace nav_dwb_critics

#endif  // NAV_DWB_CRITICS__ALIGNMENT_UTIL_HPP_
